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INF2004_Project
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Merge remote-tracking branch 'origin/main'

This commit is contained in:
Devoalda 2023-10-25 17:02:48 +08:00
parent 32bad31564 3b7831297a
commit 972cd4240d
5 changed files with 28 additions and 14 deletions
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14
frtos/config/motor_config.h
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@ -24,9 +24,16 @@
#define PWM_CLK_DIV 250.f #define PWM_CLK_DIV 250.f
#define PWM_WRAP 5000U #define PWM_WRAP 5000U
#define PID_KP 3.f /*
#define PID_KI 0.01 // 0.01f * ultimate gain Ku about 14, ultimate period Tu about 8 * 50 = 400ms
#define PID_KD 0.05f // 0.05f * Ku = 14, Tu = 400ms,
* Kp = 0.6 * Ku = 8.4
* Ki = Kp / Tu = 0.021
* Kd = Kp * Tu / 8 = 42
*/
#define PID_KP 8.4f
#define PID_KI 0.021f // 0.005f
#define PID_KD 42.f // 0.05f
#define MAX_SPEED 4900U #define MAX_SPEED 4900U
#define MIN_SPEED 0U // To be changed #define MIN_SPEED 0U // To be changed
@ -46,6 +53,7 @@ typedef struct {
SemaphoreHandle_t sem; SemaphoreHandle_t sem;
uint slice_num; uint slice_num;
uint pwm_channel; uint pwm_channel;
float distance;
} motor_speed_t; } motor_speed_t;
#endif /* MOTOR_CONFIG_H */ #endif /* MOTOR_CONFIG_H */

6
frtos/motor/motor_init.h
View File

@ -20,10 +20,12 @@
#include "motor_config.h" #include "motor_config.h"
motor_speed_t g_motor_speed_left = { .pwm_level = 2500u, motor_speed_t g_motor_speed_left = { .pwm_level = 2500u,
.pwm_channel = PWM_CHAN_A }; .pwm_channel = PWM_CHAN_A,
.distance = 0.0f,};
motor_speed_t g_motor_speed_right = { .pwm_level = 2500u, motor_speed_t g_motor_speed_right = { .pwm_level = 2500u,
.pwm_channel = PWM_CHAN_B }; .pwm_channel = PWM_CHAN_B,
.distance = 0.0f,};
void void
motor_init(void) motor_init(void)

4
frtos/motor/motor_pid.h
View File

@ -60,8 +60,8 @@ motor_pid_task(void *p_param)
p_motor_speed->pwm_level = p_motor_speed->pwm_level + control_signal; p_motor_speed->pwm_level = p_motor_speed->pwm_level + control_signal;
} }
printf("control signal: %f\n", control_signal); // printf("control signal: %f\n", control_signal);
printf("new pwm: %hu\n\n", p_motor_speed->pwm_level); // printf("new pwm: %hu\n\n", p_motor_speed->pwm_level);
pwm_set_chan_level(p_motor_speed->slice_num, pwm_set_chan_level(p_motor_speed->slice_num,
p_motor_speed->pwm_channel, p_motor_speed->pwm_channel,

8
frtos/motor/motor_speed.h
View File

@ -66,12 +66,16 @@ monitor_wheel_speed_task(void *pvParameters)
(elapsed_time / (elapsed_time /
1000000.f)); 1000000.f));
printf("speed: %f cm/s\n", p_motor_speed->current_speed_cms); p_motor_speed->distance += 1.02101761242f;
// printf("speed: %f cm/s\n", p_motor_speed->current_speed_cms);
} }
else else
{ {
p_motor_speed->current_speed_cms = 0.f; p_motor_speed->current_speed_cms = 0.f;
printf("stopped\n"); // printf("stopped\n");
} }
// printf("distance: %f cm\n", p_motor_speed->distance);
} }
} }

10
frtos/motor/motor_test.c
View File

@ -11,13 +11,13 @@ test_speed_change_task(void *p_param)
{ {
for (;;) for (;;)
{ {
g_motor_speed_left.target_speed_cms = 50.0f; g_motor_speed_left.target_speed_cms = 15.0f;
g_motor_speed_right.target_speed_cms = 50.0f; g_motor_speed_right.target_speed_cms = 15.0f;
vTaskDelay(pdMS_TO_TICKS(5000)); vTaskDelay(pdMS_TO_TICKS(5000));
g_motor_speed_left.target_speed_cms = 20.0f; // g_motor_speed_left.target_speed_cms = 20.0f;
g_motor_speed_right.target_speed_cms = 20.0f; // g_motor_speed_right.target_speed_cms = 20.0f;
vTaskDelay(pdMS_TO_TICKS(5000)); // vTaskDelay(pdMS_TO_TICKS(5000));
g_motor_speed_left.target_speed_cms = 0.0f; g_motor_speed_left.target_speed_cms = 0.0f;
g_motor_speed_right.target_speed_cms = 0.0f; g_motor_speed_right.target_speed_cms = 0.0f;